function [x_Je_hip_mat] = Je_hip_mat(x)
x_Je_hip_mat=[1.,0.,(-0.0508).*(cos(x(3)) + 8..*(cos(x(3) + x(4)) + cos(x(3) +  ...
  x(4) + x(5))) + (-3.).*sin(x(3))),(-0.4064).*(cos(x(3) + x(4)) +  ...
  cos(x(3) + x(4) + x(5))),(-0.4064).*cos(x(3) + x(4) + x(5)),0.,0., ...
  0.,0.;0.,1.,0.0508.*((-3.).*cos(x(3)) + (-1.).*sin(x(3)) + (-8.).* ...
  sin(x(3) + x(4)) + (-8.).*sin(x(3) + x(4) + x(5))),0.0508.*((-8.) ...
  .*sin(x(3) + x(4)) + (-8.).*sin(x(3) + x(4) + x(5))),(-0.4064).* ...
  sin(x(3) + x(4) + x(5)),0.,0.,0.,0.];
